Because of the challenges in obtaining large empirical datasets, there has been much interest in using computer graphics to generate synthetic datasets to use for training. A number of authors consider specific methods of creating synthetic images for automotive applications, and they draw different conclusions about the ability of these methods to generalize to camera images [1]}, [2]}, [3]}, [4]}, [5]}, [6]}, [7]}. These papers include useful ideas about how to create images that improve generalization between synthetic and camera datasets.
